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CHAPTER 1: BRIEF INTRODUCTION TO HISTORY OF

INDUSTRIAL ROBOT

CHAPTER 2: DEFINITION AND CLASSIFICATION OF ROBOT

CHAPTER 3: STRUCTURE OF INDUSTRIAL ROBOT (IR)

CHAPTER 4: THE FORWARD KINEMATIC OF IR

CHAPTER 5: THE INVERSE KINEMATIC OF IR

CHAPTER 6: INDUSTRIAL ROBOT DYNAMIC

CHAPTER 7: KUKA-HARMO ROBOT

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CHAPTER 8: TRAJECTORY PLANNING AND ROBOT CONTROL

Kinematics
Time to Derive Kinematics Model
of the Robotic Arm

INTRODUCTION

Forward Kinematics:
 to determine where the robot’s hand is?
 (If all joint variables are known)

Inverse Kinematics:
 to calculate what each joint variable is?
 (If we desire that the hand be
 located at a particular point)

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INTRODUCTION

Forward Kinematics (angles to position)

What you are given: The length of each link
The angle of each joint

What you can find: The position of any point

(i.e. it’s (x, y, z) coordinates

Inverse Kinematics (position to angles)

What you are given: The length of each link
The position of some point on the robot

What you can find: The angles of each joint needed to obtain
that position
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INTRODUCTION

Where is my hand?

Direct Kinematics:
HERE!

INTRODUCTION

Objective:
To drive a method to compute the
position and orientation of the
manipulator’s end-effector relative to the
base of the manipulator as a function of
the joint variables.

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Degrees of Freedom
The degrees of freedom of a rigid body is defined as
the number of independent movements it has.
The number of :
• Independent position
variables needed to locate all
parts of the mechanism,
• Different ways in which a
robot arm can move,
• Joints
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DOF of a Rigid Body

In a plane

In space

Degrees of Freedom
3 position
3D Space = 6 DOF
3 orientation
In robotics:
DOF = number of independently driven joints
positioning accuracy
As DOF computational complexity
cost
flexibility
power transmission is
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more difficult
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Robot Links and Joints

A manipulator may be thought of as a set of
bodies (links) connected in a chain by joints.

In open kinematics chains (i.e. Industrial

Manipulators):

{No of D.O.F. = No of Joints} 10

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Lower Pair
The connection between a pair of bodies
when the relative motion is characterized
by two surfaces sliding over one another

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The Six Possible Lower Pair Joints

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Higher Pair
A higher pair joint is one which contact
occurs only at isolated points or along a
line segments

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Robot Joints

Revolute Joint
1 DOF ( Variable - )

Spherical Joint Prismatic Joint

3 DOF ( Variables -  1,  2,  3) 1 DOF (linear) (Variables - d)
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Robot Specifications
Number of axes
Major axes, (1-3) =>
position the wrist
Minor axes, (4-6) => orient
the tool
Redundant, (7-n) =>
reaching around obstacles,
avoiding undesirable
configuration

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An Example - The PUMA 560

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1 4

The PUMA 560 has SIX revolute joints.

A revolute joint has ONE degree of freedom There are two more joints on the
end-effector (the gripper)
( 1 DOF) that is defined by its angle.
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Note on Joints
Without loss of generality, we will consider
only manipulators which have joints with a
single degree of freedom.
A joint having n degrees of freedom can
be modeled as n joints of one degree of
freedom connected with n-1 links of zero
length.

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Link
A link is considered as a rigid body which
defines the relationship between two
neighboring joint axes of a manipulator.z zn+1n
zn
an  n+1
x n+1
n xn
xn
Link n
Joint n+1
Joint n

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The Kinematics Function of a Link

The kinematics
function of a link is to
maintain a fixed
relationship between
the two joint axes it
supports.
This relationship can
be described with
two parameters: the
link length a, the link
twist 
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Link Length
Is measured along a line which is mutually
perpendicular to both axes.
The mutually perpendicular always exists
and is unique except when both axes are
parallel.

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Link twist
Project both axes i-1 and i onto the plane
whose normal is the mutually perpendicular
line, and measure the angle between them
Right-hand sense

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Link Length and Twist Axis i

Axis i-1

i-1
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Joint Parameters
A joint axis is established at the connection of two links.
This joint will have two normals connected to it one
for each of the links.

The relative position of two links is called link offset dn

whish is the distance between the links (the
displacement, along the joint axes between the links).

The joint angle n between the normals is measured in

a plane normal to the joint axis.

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Link and Joint Parameters

Axis i

Axis i-1

i di

i-1 24

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Link and Joint Parameters

4 parameters are associated with each link. You
can align the two axis using these parameters.

Link parameters:
an the length of the link.
n the twist angle between the joint axes.

Joint parameters:
n the angle between the links.
dn the distance between the links

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Link Connection Description:

For Revolute Joints: a, , and d.
are all fixed, then “i” is the.
Joint Variable.

For Prismatic Joints: a, , and .

are all fixed, then “di” is the.
Joint Variable.

These four parameters: (Link-Length ai-1), (Link-Twist i-1), (Link-Offset di),

(Joint-Angle i) are known as the Denavit-Hartenberg Link Parameters.
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Links Numbering Convention

Base of the arm: Link-0 Link 2

2
1st moving link: Link-1 3 Link 3
.
. Link 1
1
.
.
. Link 0
. 0
Last moving link Link-n

A 3-DOF Manipulator Arm

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First and Last Links in the Chain

a0= n=0.0

0= n=0.0

If joint 1 is revolute: d0= 0 and 1 is arbitrary

If joint 1 is prismatic: d0= arbitrary and 1 = 0

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Special cases:
If joint axes zi-1 and zi intersect, parameter ai
is zero.
If the common perpendicular to zi-1 and zi
intersects zi-1 at the origin of frame Fi-1, then
di-1 is zero.
If joint axes zi-1 and zi are parallel, angle i is
zero.

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Affixing Frames to Links

In order to describe the location of each link
relative to its neighbors we define a frame
attached to each link.

The Z axis is coincident with the joint axis i.

The origin of frame is located where ai
perpendicular intersects the joint i axis.
The X axis points along ai( from i to i+1).
If ai = 0 (i.E. The axes intersect) then Xi is
perpendicular to axes i and i+1.
The Y axis is formed by right hand rule.
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Affixing Frames to Links

First and last links
Base frame (0) is arbitrary
 Make life easy
 Coincides with frame {1} when joint parameter is 0
Frame {n} (last link)
 Revolute joint n:
 Xn = Xn-1 when  n = 0
 Origin {n} such that dn=0
 Prismatic joint n:
 Xn such that  n = 0
 Origin {n} at intersection of joint axis n and Xn when dn=0

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Affixing Frames to Links

Joint n
Joint n-1 Link n

Joint n+1
Link n-1

zn
zn+1
zn-1 xn
yn-1
dn n
yn an xn+1
an-1
xn-1 yn+1

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Affixing Frames to Links

Note: assign link frames so as to cause as many link
parameters as possible to become zero!

The reference vector z of a link-frame is always on a joint

axis.
The parameter di is algebraic and may be negative. It is
constant if joint i is revolute and variable when joint i is
prismatic.
The parameter ai is always constant and positive.
a i is always chosen positive with the smallest possible
magnitude.

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The Situation:
You have a robotic arm that
starts out aligned with the xo-axis.
You tell the first link to move by 1
and the second link to move by 2.

The Quest:
What is the position of the
end of the robotic arm?

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The Situation:
You have a robotic arm that
starts out aligned with the xo-axis.
You tell the first link to move by 1
and the second link to move by 2.

The Quest:
What is the position of the
end of the robotic arm?

Solution:
1. Geometric Approach
This might be the easiest solution for the simple situation. However,
notice that the angles are measured relative to the direction of the previous
link. (The first link is the exception. The angle is measured relative to it’s
initial position.) For robots with more links and whose arm extends into 3
dimensions the geometry gets much more tedious.

2. Algebraic Approach
Involves coordinate transformations.
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Quick Math Review

Dot Product: a x 
a 
Geometric Representation:  y

A b x 
A  B  A B cos θ b 
θ  y
Matrix Representation: B

a x  b x 
A B    b   a x b x  a y b y
a y   y

Unit Vector
Vector in the direction of a chosen vector but whose magnitude is 1.
B
uB 
B B
uB

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Quick Matrix Review

Matrix Multiplication:
An (m x n) matrix A and an (n x p) matrix B, can be multiplied since
the number of columns of A is equal to the number of rows of B.
Non-Commutative Multiplication
AB is NOT equal to BA

a b   e f  ae  bg  af  bh

c d    g 
h  ce  dg  cf  dh 
  

Matrix Addition:
a b   e f   a  e  b  f 
c d    g 
h  c  g  d  h 
  

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Basic Transformations
Moving Between Coordinate Frames

Translation Along the X-Axis

Y O

(VN,VO)

VO

P
N
X VN
Px

Px = distance between the XY and NO coordinate planes

V X  V N   Px 
Notation: V XY   Y  V NO   O  P 
V  V  0
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Writing V XY in terms of V NO

Y O

VO
P 
N
X VN

P  V N 
V XY   X O   P V NO
 V 

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O
Translation along the X-Axis and Y-Axis

VO

N
VN

P 
X P XY   x 
PY 

P  V N 
V XY  P V NO   X O
PY  V 

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Using Basis Vectors

Basis vectors are unit vectors that point along a coordinate axis
O

n Unit vector along the N-Axis

o Unit vector along the O-Axis
VO
NO
V Magnitude of the VNO vector
o
N
n VN

NO
V N   V cosθ  V NO cosθ  V NO  n 
V NO   O    NO    NO    NO 
V   V sinθ   V cos(90  θ)  V  o 

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Y
Rotation (around the Z-Axis)
Z X
Y

VY

 X
VX

 = Angle of rotation between the XY and NO coordinate axis

V X  V N 
V XY   Y  V NO   O 
V  V 
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Y Unit vector along X-Axis

Can be considered with respect to
the XY coordinates or NO coordinates
V XY NO
V  V
VY
 

X
VX
X XY NO NO
V  V cos α  V cos α  V x
X N O (Substituting for VNO using the N and O
V  (V n V  o)  x components of the vector)
X
V  V (x  n )  V O (x  o )
N

 V N (cos θ )  V O (cos( θ  90))

 V N (cos θ )  V O (sin θ )

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Similarly….
Y NO NO NO
V  V sin α  V cos(90  α)  V y
Y N O
V  (V n V  o)  y
V Y  V N (y  n )  V O (y  o )
 V N (cos(90  θ))  V O (cos θ )
 V N (sin θ )  V O (cos θ )
So….

V X  V N (cos θ )  V O (sin θ ) V X 
V XY   Y 
V Y  V N (sin θ )  V O (cos θ ) V 
Written in Matrix Form

 V X  cosθ  sinθ V N  Rotation Matrix about the z-axis

V XY   Y     O 
 V   sinθ cosθ  V 
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Y1

(VN,VO)
Y0
VNO

VXY

P X1

Translation along P followed by rotation by 

X0

 V X   Px   cos θ  sin θ   V N 
V XY   Y        
 V   P y   sin θ cos θ   V O 
(Note : Px, Py are relative to the original coordinate frame. Translation followed by
rotation is different than rotation followed by translation.)

In other words, knowing the coordinates of a point (VN,VO) in some coordinate

frame (NO) you can find the position of that point relative to your original
coordinate frame (X0Y0).

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HOMOGENEOUS REPRESENTATION
Putting it all into a Matrix

 V X   Px   cos θ  sin θ   V N  What we found by doing a

V XY   Y         translation and a rotation
 V   P y   sin θ cos θ   V O 

 V X   Px   cos θ  sin θ 0  V N  Padding with 0’s and 1’s

   
  V Y    Py    sin θ cos θ 0  V O 
   
 1   1   0
  0 1   1 

X
 V  cos θ  sin θ Px   V N 
   
  V Y    sin θ cos θ Py   V O  Simplifying into a matrix form
 
 1   0 0 1   1 
 
cos θ  sin θ Px 
H   sin θ cos θ Py  Homogenous Matrix for a Translation in
  XY plane, followed by a Rotation around
 0 0 1  the z-axis
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Rotation Matrices in 3D – OK,lets return from

homogenous repn
 cos θ  sin θ 0
Rotation around the Z-Axis
R z   sin θ cos θ 0
 
 0 0 1 

 cos θ 0 sin θ 
Ry   0 1 0  Rotation around the Y-Axis
 
  sin θ 0 cos θ 

1 0 0 
R z  0 cos θ  sin θ  Rotation around the X-Axis
 
 0 sin θ cos θ 

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Homogeneous Matrices in 3D
H is a 4x4 matrix that can describe a translation, rotation, or both in one matrix
O
1 0 0 Px 
Y
0 1 0 Py 
P
N H
0 0 1 Pz 
X A  
Translation without rotation 0 0 0 1
Z

Y
n x ox ax 0
n oy ay 0 
O
N
H y
n z oz az 0
 
X 0 0 0 1
Rotation part:
Z Rotation without translation Could be rotation around z-axis,
A x-axis, y-axis or a combination of
the three. 48

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Homogeneous Continued….
V N 
 O The (n,o,a) position of a point relative to the
V
V XY  H A  current coordinate frame you are in.
V 
 
 1 

n x ox ax Px  V N 
n  
oy ay Py  V O  V X  n x V N  o x V O  a x V A  Px

y
V XY
n z oz az Pz  V A 
  
0 0 0 1   1 

The rotation and translation part can be combined into a single homogeneous
matrix IF and ONLY IF both are relative to the same coordinate frame.

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Finding the Homogeneous Matrix

EX.

Y W N 
 O
W 
 A
W 
T
P
X

Z
WX   WI  W N 
 Y  Point relative to the  J  Point relative to the  O  Point relative to the
 W  X-Y-Z frame  W  I-J-K frame W  N-O-A frame
 K  A
W Z 
  W  W 

 WI  ni oi ai Pi  W N 
 W I   Pi   n i oi ai   W N   J   
 J     
a j   W O   W   nj oj aj Pj  W O 
 W    Pj    n j oj
 W K  Pk  n k  W K  n k ok ak Pk  W A

  ok a k   W 
A
    
 1   0 0 0 1   1 
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WN
Y  O
W 
WA
 
T
P
X

Z
 W X  i x jx kx Tx   W I 
 W X  Tx  i x jx k x WI   Y   
 Y       W   i y jy ky Ty   W J 
 W   Ty   i y jy k y   W J 
W Z  i z jz kz Tz   W K 
 W Z   Tz   i z jz  
k z  W  k
    
   1   0 0 0 1   1 

 W X  i x jx kx Tx   n i oi ai Pi   W N 
 WI   Y   
 
Substituting for  W J   W   i y jy ky Ty   n j oj aj Pj   W O 
WK  W Z  i z jz kz Tz  n k ok ak Pk   W A
 
     
 1   0 0 0 1  0 0 0 1   1 

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W X  W N  i x jx kx Tx   n i oi ai Pi 
 Y  O
 W   HW 
i jy ky Ty   n j oj aj Pj 
H
y
W Z  W A  i z jz kz Tz  n k ok ak Pk 
      
 1   1  0 0 0 1  0 0 0 1
Product of the two matrices

Notice that H can also be written as:

1 0 0 Tx  i x jx kx 0  1 0 0 Pi   n i oi ai 0
0 1 0 Ty  i y jy ky 0 0 1 0 Pj   n j oj aj 0
H
0 0 1 Tz   i z jz kz 0  0 0 1 Pk  n k ok ak 0
    
0 0 0 1  0 0 0 1  0 0 0 1  0 0 0 1

H = (Translation relative to the XYZ frame) * (Rotation relative to the XYZ frame)
* (Translation relative to the IJK frame) * (Rotation relative to the IJK frame)

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The Homogeneous Matrix is a concatenation of numerous

translations and rotations

WN 
Y  O
W 
 A
W 
T
P
X

Z
One more variation on finding H:

H= (Rotate so that the X-axis is aligned with T)

* ( Translate along the new t-axis by || T || (magnitude of T))
* ( Rotate so that the t-axis is aligned with P)
* ( Translate along the p-axis by || P || )
* ( Rotate so that the p-axis is aligned with the O-axis)

This method might seem a bit confusing, but it’s actually an easier way to
solve our problem given the information we have. Here is an example…
53

53

Direct Kinematics Algorithm

Often
1) Draw sketch sufficient for 2D

2) Number links. Base=0, Last link = n

3) Identify and number robot joints
4) Draw axis Zi for joint i
5) Determine joint length ai-1 between Zi-1 and Zi
6) Draw axis Xi-1
7) Determine joint twist i-1 measured around Xi-1
8) Determine the joint offset di
9) Determine joint angle i around Zi
10+11) Write link transformation and concatenate
54

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The Kinematics Model

The robot can now be kinematically modeled by
using the link transforms ie:
0
T  T1T2T3 Ti Tn
n

Where
0
nT is the pose of the end-effector relative to
base;
Ti is the link transform for the ith joint;
and
n is the number of links.
55

55

The Denavit-Hartenberg (D-H)

Representation

In the robotics literature, the Denavit-

Hartenberg (D-H) representation has been
used, almost universally, to derive the
kinematic description of robotic
manipulators.

56

56

Why DH notation
Find the homogeneous transformation
H relating the tool frame to the fixed
base frame

57

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Why DH notation
A very simple way of modeling robot
links and joints that can be used for any
kind of robot configuration.

This technique has became the

standard way of representing robots
and modeling their motions.

58

58

The Denavit-Hartenberg (D-H)

Representation

The appeal of the D-H representation lies in

its algorithmic approach.
The method begins with a systematic
approach to assigning and labeling an
orthonormal (x,y,z) coordinate system to
each robot joint. It is then possible to relate
one joint to the next and ultimately to
assemble a complete representation of a
robot's geometry.
59

59

DH Techniques
1. Assign a reference frame to each joint
(x-axis and z-axis). The D-H representation
does not use the y-axis at all.
2. Each homogeneous transformation Ai
is represented as a product of four
basic transformations

60

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Denavit-Hartenberg
Parameters
Axis i

Axis i-1 i

di

i-1 61

61

General Transformation Between

Two Bodies
In D-H convention, a general transformation
between two bodies is defined as the product
of four basic transformations:

A translation along the initial z axis by d,

A rotation about the initial z axis by ,
A translation along the new x axis by a, and.
A rotation about the new x axis by .

62

62

The Link Parameters

ai = the distance from zi to zi+1.
measured along xi.

i = the angle between zi and zi+1.

measured about xi.

di = the distance from xi-1 to xi.

measured along z i.

i = the angle between xi-1 to xi.

measured about z i
63

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A General Transformation in D-H

Convention

D-H transformation for adjacent coordinate

frames:
i 1
T i
 Tz , Tz , d Tx ,aTx , I 44

64

64

Denavit-Hartenberg Convention
• 1. Establish the base coordinate system. Establish a right-handed
orthonormal coordinate system ( X 0 , Y0 , Z 0 ) at the supporting base
with Z 0 axis lying along the axis of motion of joint 1.
• 2. Initialize and loop Steps 3 to 6 for I=1,2,….n-1
• 3. Establish joint axis. Align the Zi with the axis of motion (rotary or
sliding) of joint i+1.
• 4. Establish the origin of the ith coordinate system. Locate the
origin of the ith coordinate at the intersection of the Zi & Zi-1 or at
the intersection of common normal between the Zi & Zi-1 axes and
the Zi axis.
• 5. Establish Xi axis. Establish X i  ( Z i 1  Z i ) / Z i 1  Z i or along the
common normal between the Zi-1 & Zi axes when they are parallel.
• 6. Establish Yi axis. Assign Yi  ( Z i  X i ) / Z i  X i to complete the
right-handed coordinate system.

65

65

Denavit-Hartenberg Convention
• 7. Establish the hand coordinate system
• 8. Find the link and joint parameters : d,a,,

D-H transformation for adjacent coordinate

frames: i 1
T i
 Tz , Tz , d Tx ,aTx , I 44
C  i  C  iS i S iS i a iC  i 
 S C  iC  i  S  iC  i a i S  i 
T i i 1   i

 0 S i C i di 
 
 0 0 0 1 

An  Rot ( z ,  ).Trans (0 , 0, d ).Trans ( a , 0, 0 ). Rot ( x ,  ) 66

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Denavit-Hartenberg Convention
Thus, it can be seen that the i + 1 coordinate system
is due to the transformation from the ith coordinate
system. The rotations (R) and translations (T) in
these transformations must be present in the
transformations of the matrix Ai. Kinetic parameters
are also determined based on these transformations.

For example, if the attachment of some coordinate

system where the origin Oi has been translated along
the yi-1 axis, this is not correct because there is no T
(0, y, 0) transformation in the Ai matrix. Similarly,
there is no rotation arround yi axis in the matrix Ai
67

67

Example: Consider a model of IR with two flat links as shown :

| 68 |

68

Attach the coordinate system to the links as shown in the figure: axes
z0, z1 and z2 perpendicular to the plane containing the robot. The
original base coordinate system is O0x0y0z0, the direction of x0 is from
O0 to O1. The coordinate system O1x1y1z1 has the direction shown in
the figure, O1 is at the center of the joint axis 2. The O2x2y2z2
coordinate system has the origin O2 at the end point of the second.
The DH parameters table:

Khâu i αi ai di

1  1* 0 a1 0

2  2* 0 a2 0

(In which  i is the join variables)

| 69 |

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Ex: Consider a robot with 3 joints - RRT. Let's

set up the robot kinetic equations.

| 70 |

70

Attach the coordinate system to links

Assume initial position and select origin O0 as shown in figure.

The z-axes are in the same direction as the joint axes.

The z1 axis has rotated 90° relative to the z0 axis, which is the rotation around
the x0 axis by an angle α1 (R(x0, α1) transformation in the calculation of An).

Choose the direction of x0 from left to right, then α1 =90° (positive counter-
clockwise).
At the same time, the origin O1 has tránslated a
distance d1 along z0 :T (0,0, d1).

The axes y0 and y1 are determined by the rule of

the right hand.

| 71 |

71

Attach the coordinate system to links

Continue to select origin O2 set to coincide with O1 because the 3rd

joint axis and 2nd joint axis intersect at O1

| 72 |

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Determination of matrices A:

 cos   sin  cos  sin  sin  0

 sin  cos  cos   cos  sin  0
Form of An :
An   
 0 sin  cos  d
 
 0 0 0 1
Sign C1 =cos  1 ; S1 = sin  1 ; C2 =cos  2 …

C1 0 S1 0 C 2 0  S2 0 1 0 0 0
S 0  C1 0  S 0 C2 0 0 1 0 0
A1   1 A2   2  A3   
0 1 0 d1  0 1 0 0 0 0 1 d3 
     
0 0 0 1 0 0 0 1 0 0 0 1

73

Compute homogeneous transformation matrices T

We have:

2 1
T3  A3 ; T3  A2 2T3
C 2 0  S2 0  1 0 0 0  C 2 0  S2  S2d3 
S 0 C2 0   0 1 0 0   S 2 0 C2 C 2 d 3 
1
T3   2 . 
0 1 0 d 2  0 0 1 d3   0 1 0 0 
    
0 0 0 1  0 0 0 1 0 0 0 1 
T3  A1 1T3
 C1 0 S1 0  C 2 0  S2  S2d3  C 1C 2  S1  C1 S 2  C1 S 2 d 3 
S 0  C1 0   S2 0 C2 C 2d 3  S C C1  S 1S 2  S1 S 2 d 3 
T3   1 .   1 2 
0 1 0 d1   0 1 0 0   S2 0 C2 C 2d 3  d1 
    
0 0 0 1 0 0 0 1   0 0 0 1 

74

Set up the kinetic equation:

We have:

 nx sx ax px  C1C 2  S1  C1 S 2  C1 S 2 d 3 
n sy ay py  S C C1  S1 S 2  S1 S 2 d 3 
TE  Tn   y   T3   1 2 
 nz sz az pz   S2 0 C2 C 2 d 3  d1 
   
0 0 0 1   0 0 0 1 
Thus, the kinematic equation is:
n x  C1C 2 ; n y  S1C 2 ; n z  S 2
s x   S 1 ; s y  C1 ; s z  0
a x   C 1 S 2 ; a y   S1 S 2 ; a z  C 2
p x   C1 S 2 d 3 ; p y   S1S 2 d 3 ; p z  C 2 d 3  d1

75

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For the end effector, place O3 at the point between robot fingers and the axis
z3, x3 selected as shown in the figure . Thus, we have translated the origin
along z2 a distance d3 : T(0,0, d3)).

Set up DH parameter table:

Khâu i αi ai di

1  1* 0 d1
2  2* 0 0

3 0 0 0 d 3*

| 76 |

76

Example 1
Z3
Z0 Z1 Joint 3
Y0 O3 X3
Y1

d2
Joint 1
O0 X0 O1 X1 O2 X2
Joint 2
Y2
a0 a1
A translation along the initial z Joint i i ai di i
axis by d,
A rotation about the initial z axis 1 0 a0 0 0
by ,
A translation along the new x 2 -90 a1 0 1
axis by a, and.
A rotation about the new x axis 3 0 0 d2 2
by . 77

77

Example 1

C  i  C iS i S iS i a iC  i 
 S C  iC  i  S iC  i a i S  i 
T i
i 1   i

 0 S i Ci di 
 
 0 0 0 1 

T03  (T 01)(T 21)(T 23)

78

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Example 1 cosθ0  sinθ0 0 a0 cos 0 

 sinθ cosθ0 0 a0 sin  0 
T 
1
0
0 
 0 0 1 0 
 
 0 0 0 1 
Joint i i ai di i
cosθ 1 0  sin  1 a1 cos 1 
1 0 a0 0 0  sinθ 0 cos  1 a1 sin 1 
T 12  1 
 0 1 0 0 
2 -90 a1 0 1  
 0 0 0 1 
3 0 0 d2 2
cosθ 2  sinθ 2 0 0
 sin  cos  2 0 0 
T 23  2

 0 0 1 d2 
 
 0 0 0 1
79

79

Example 2(3.3):
Link Frame Assignments

80

80

Example 2:
Ci  Ci Si Si Si ai Ci 
 S C C  S C a S 
T  i
i
i 1
i i i i i i

c1  s1 0 0  0 Si Ci di 

 
 s c1 0 0  0 0 0 1 
0  1 
1T 
0 0 1 0
 
 0 0 0 1
c
 2  s 2 0 L1  c 3  s 3 0 L2 
 s c2 0 0  s c3 0 0
1
2T 
 2  2
3T 
 3 
 0 0 1 0  0 0 1 0
   
 0 0 0 1  0 0 0 1
81

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Example 2:

c123  s123 0.0 l1c1  l2 c12 

s 
B 0
W T  3T 
 123 c123 0.0 l1 s1  l2 s12 .
 0.0 0.0 1.0 0.0 
 
 0 0 0 1 

82

82

Example 3: SCARA Robot

83

83

Example 3:SCARA Robot

The location of the sliding axis Z2 is arbitrary, since it is a
free vector. For simplicity, we make it coincident with Z3 .
thus 2 and d2 are arbitrarily set.
The placement of O3 and X3 along Z3 is arbitrary, since
Z2 and Z3 are coincident. Once we choose O3, however,
then the joint displacement d3 is defined.
We have also placed the end link frame in a convenient
manner, with the Z4 axis coincident with the Z3 axis and
the origin O4 displaced down into the gripper by d4.

84

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Example 3:SCARA Robot

Li
Link 2 n
link 1 k
3

Link 4

SCARA Robot and coordinate systems (at the

original position)

85

Example 3:SCARA Robot

Set up DH parameter table:

Khâu i αi ai di

1  1* 0 a1 0

2  2* a2 0

3 0 0 0 d 3*
4  4* 0 0 d4

86

Example:
ELBOW ROBOT:

Hình dáng robot ELBOW

Elbow Robot has six links: RRRRRR.

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2. Kinematic equations of ELBOW Robot:

Initial position of ELBOW robot and its coordinate systems

88

DH table of Elbow Robot:

Khâu αi ai di Khớp

1 1 0 0 R

2 2 0 a2 0 R

3 3 0 a3 0 R

4 4 a4 0 R

5 5 0 0 R

6 6 0 0 0 R

Joint variables

89

cos   sin  cos  sin  sin  a cos  

 sin  cos  cos   cos sin  a sin  
An   
 0 sin  cos  d 
 
 0 0 0 1 

Transformation Matrixes:
C1 0 S1 0 C 2  S2 0 C 2a2 
S S S 2 a 2 
0  C1 0  C2 0
A1   1 A2   2
0 1 0 0 0 0 1 0 
   
0 0 0 1 0 0 0 1 
C 3  S3 0 C 3 a3  C 4 0  S4 C4 a4 
S C3 0 S 3 a 3  S 0 C4 S 4 a 4 
A3   3 A4   4
0 0 1 0  0 1 0 0 
   
0 0 0 1  0 0 0 1 
C 5 0 S5 0 C 6  S6 0 0
S 0  S
0  C5 C6 0 0 
A5   5 A6   6
0 1 0 0 0 0 1 0
   
0 0 0 1 0 0 0 1

90

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Then:
 nx sx ax px 
n sy ay p y 
0
T6  T6  A1 A2 A3 A4 A5 A6   y
 nz sz az pz 
 
0 0 0 1 
The kinematic equations:

n x  C1 C 234 C 5C 6  S 234 S 6   S1 S 5 C 6 a x  C1C 234 S 5  S1C 5

n y  S1 C 234 C 5C 6  S 234 S 6   C1S 5C 6
n z  S 234 C 5C 6  C 234 S 6
s x   C1 C 234 C 5 S 6  S 234 C 6   S 1S 5 S 6
s y   S1 C 234 C 5 S 6  S 234 C 6   C1 S 5 S 6
s z   S 234 C 5 S 6  C 234 C 6
a y  S1C 234 S 5  C1C 5
a z  S 234 S 5
p x  C1 C 234 a 4  C 23 a3  C 2 a 2 
p y  S 1 C 234 a 4  C 23 a 3  C 2 a 2 
p z  S 234 a 4  S 23 a 3  S 2 a 2

91

Example 4: Puma 560

92

92

Example 4: Puma 560

93

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Example 4: Puma 560

Joint i i i ai(mm) di(mm)

1 1 0 0 0
2 2 -90 0 d2
3 3 0 a2 d3
4 4 90 a3 d4
5 5 -90 0 0
6 6 0 0 0

94

94

Forearm of a PUMA

d4
x4
x3
a3 z4
y3 x6
x5
y5 z6

Spherical joint
95

95

Example 4: Puma 560

96

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Example 4: Puma 560

Different Configuration

97

97

Link Coordinate Parameters

PUMA 560 robot arm link coordinate parameters

Joint i i i ai(mm) di(mm)

1 1 -90 0 0
2 2 0 431.8 149.09
3 3 90 -20.32 0
4 4 -90 0 433.07
5 5 90 0 0
6 6 0 0 56.25

98

98

DH parameters of Puma robot:

Khâu αi ai di Khớp

1  1* 0 0 R

2  2* 0 a2 d2 R

3  3* a3 0 T

4  4* 0 d4 R

5  5* 0 0

6 6* 0 0 d6
* Joint variables

HW: Determine the kinematic equations of the Robot ?

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Example 4: Puma 560

100

100

Example 4: Puma 560

101

101

Kinematic equations of STANFORD robot

Configuration of STANFORD robot

Robot Stanford có 6 khâu với cấu hình RRTRRR.

102

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Kinematic equations of STANFORD robot

Sign the trigonometric functions as follows:

C1  cos 1 ; S1  sin 1
C12  cos  1   2 ; S12  sin  1   2 
S 234  sin  2   3   4 ...

The coordinate system is attached to each joints as

shown in the figure.
x
2

Hệ tọa độ của robot STANFORD

103

Kinematic equations of STANFORD robot

DH parameters of Stanford robot:

Khâu i αi ai di

1 1* 0 0

2  2* 0 d2
3 0 0 0 d 3*
*
4  4
0 0

5  5* 0 0

6  6* 0 0 0

104

cos  sin  cos  sin  sin  a cos 

 sin  cos cos  cos sin  a sin  
An  
 0 sin  cos d 
 
 0 0 0 1 
A matrices of the Stanford robot are determined as follows:
C1 0  S1 0 C 2 0 S2 0
S S 0 
0 C1 0  0  C2
A1   1 A2   2
0 1 0 0 0 1 0 d2
   
0 0 0 1 0 0 0 1
1 0 0 0 C 4 0  S4 0
0 1 0 0  S 0 C4 0 
A3   A4   4
0 0 1 d3  0 1 0 0
   
0 0 0 1 0 0 0 1
C 5 0 S5 0 C 6  S6 0 0
S 0  S
0  C5 C6 0 0 
A5   5 A6   6
0 1 0 0 0 0 1 0
   
0 0 0 1 0 0 0 1

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The product of the displacement matrices A for Stanford robot starts from link 6 and
gradually moves back to origin O, we have:

C 6  S6 0 0 C 5 C 6  C5 S 6 S5 0
S C6 0 0  S C  S5 S 6  C5 0 
5
T6  A6   6 4
T6  A5 A6   5 6
0 0 1 0  S6 C6 0 0
   
0 0 0 1  0 0 0 1

 C 4 C 5C 6  S 4 S 6  C4C5 S 6  S 4C6 C4 S 5 0
S C C  C S  S 4 C 5 S 6  C 4C 6 S 4 S5 0 
T6  A4 A5 A6   4 5 6
3 4 6

  S 5C 6 S 5 S6 C5 0
 
 0 0 0 1

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 C 4 C 5C 6  S 4 S 6  C 4C 5 S 6  S 4C 6 C4 S 5 0
S C C  C S  S 4 C 5 S 6  C 4C 6 S 4 S5 0 
2
T6  A3 A4 A5 A6   4 5 6 4 6

  S 5C 6 S5 S 6 C5 d3 
 
 0 0 0 1
1
T6  A2 A3 A4 A5 A6 
C2 C4C5C6  S 4 S6   S2 S5C6  C2 C4C5C6  S4C6   S2 S5 S 6 C2C4 S5  S 2C5 S 2 d3 
S C C C  S S   C S C  S2 C4C5C6  S4 S 6   C2 S5 S6 S 2C4 S5  C2C5  C2d 3 
 2 4 5 6 4 6 2 5 6

 S4C5C6  C4 S6  S 4C5 S6  C4 S6 S4 S5 d2 
 
 0 0 0 1 

nx sx ax px 
n sy ay p y 
0
T6  A1 T6  A1 A2 A3 A4 A5 A6   y
1

n z sz az pz 
 
0 0 0 1

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By balancing the elements on the two sides of the equation above, we have the
kinematic equations of the Stanford robot :

n x  C1 C 2 C 4 C 5C 6  S 4 S 6   S 2 S 5 C 6   S 1 S 4 C 5C 6  C 4 S 6 


n y  S1 C 2 C 4 C 5C 6  S 4 S 6   S 2 S 5 C 6   C1 S 4 C 5 C 6  C 4 S 6 
n z   S 2 C 4 C 5 C 6  S 4 S 6   C 2 S 5 C 6
s x  C1  C 2 C 4 C 5 S 6  S 4 C 6   S 2 S 5 S 6   S1  S 4 C 5 S 6  C 4 C 6 
s y  S 1  C 2 C 4 C 5 S 6  S 4 C 6   S 2 S 5 S 6   C1  S 4 C 5C 6  C 4C 6 
s z  S 2 C 4 C 5 S 6  S 4 C 6   C 2 S 5 S 6
a x  C1 C 2 C 4 S 5  S 2 C 5   S1 S 4 S 5
a y  S 1 C 2 C 4 S 5  S 2 C 5   C1 S 4 S 5
a z   S 2C 4 S 5  C 2C5
p x  C1 S 2 d 3  S1 d 2
p y  S 1 S 2 d 3  C1 d 2
pz  C2d3

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The Tool Transform

A robot will be frequently picking up objects or tools.
Standard practice is to to add an extra homogeneous
transformation that relates the frame of the object or
tool to a fixed frame in the end-effector.

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109

Summary: Robot Forward

Kinematics Analysis
1. Identify robot dimensions and understand its geometry.
2. Number Links and Joints.
 Base = Link 0
 1st Joint = Joint 1
3. Identify Joint Axes, type and direction of positive motions.
4. Draw Common Normals (CNs) and find their intersections with joint
axes. Define two points:
 AN = intersection of Axis N with CN to Axis N+1
 BN = intersection of Axis N with CN to Axis N-1
5. Assign Link Frames.
 Origin of Frame N is at AN
 ZN points along Axis N.
 XN points along CN to BN+1.
 YN completes a right handed coordinate system.
Q:What if there is no CN because the axes intersect?
 A:Then choose XN to be normal to ZN and ZN+1.
Q:What if there is no unique CN because ZN and ZN+1 are parallel
 A:Then choose one. Typically, you can simplify subsequent analysis
by choosing a CN which intersects BN.
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110

HW
Problem 1: ? 0  1 0
? 0 0 1
We have: T6   
?  1 0 2
 
? 0 0 1
Is the matrix representing the direction and position of the end effector.

Finds the remaining unknown elements (?).

Problem 2:

Give a robot with 3 planar links as shown in figure,

(RRR). Set up kinematic equations of the robot.

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Problem 3:

Give a robot with 3 translation links as

shown in figure, (TT). Set up kinematic
equations of the robot.

Problem 4:

Give a robot with two planar links as

shown in figure, (RT). Set up kinematic
equations of the robot.

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Problem 5:

Give a robot with the configuration as

shown in figure, (RTR). Set up
kinematic equations of the robot.

Problem 6:

Give a 5-DOF robot with the

configuration as shown in figure,
(RRRRR). Set up kinematic equations
of the robot.
|

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